<?xml version="1.0" encoding="utf-8" ?>
<ObstacleAvoidanceDriveState xmlns:s="http://www.w3.org/2003/05/soap-envelope" xmlns:d="http://schemas.microsoft.com/xw/2004/10/dssp.html" xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" xmlns="http://schemas.microsoft.com/2011/07/obstacleavoidancedrive.html">
  <RobotWidth>0.45</RobotWidth>
  <DepthCameraPosition>
    <X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</X>
    <Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0.6</Y>
    <Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">-0.15</Z>
  </DepthCameraPosition>
  <Controller>
    <Ki>0.02</Ki>
    <Kp>0.25</Kp>
    <Kd>0.05</Kd>
  </Controller>
</ObstacleAvoidanceDriveState>